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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ea97a38b2b
* Add uavcannode esc/servo pwm control pipeline * Remove cannode rc.interface with mixer purge * Cannode add Kconfig options to reduce flash usage
119 lines
4.2 KiB
C++
119 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file esc.hpp
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*
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* UAVCAN <--> ORB bridge for ESC messages:
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* uavcan.equipment.esc.RawCommand
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* uavcan.equipment.esc.RPMCommand
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* uavcan.equipment.esc.Status
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*
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/uavcan.hpp>
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#include <uavcan/equipment/esc/RawCommand.hpp>
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#include <uavcan/equipment/esc/Status.hpp>
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#include <lib/perf/perf_counter.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/esc_status.h>
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#include <drivers/drv_hrt.h>
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#include <lib/mixer_module/mixer_module.hpp>
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class UavcanEscController
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{
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public:
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static constexpr int MAX_ACTUATORS = esc_status_s::CONNECTED_ESC_MAX;
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static constexpr unsigned MAX_RATE_HZ = 400;
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static constexpr uint16_t DISARMED_OUTPUT_VALUE = UINT16_MAX;
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static_assert(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize >= MAX_ACTUATORS, "Too many actuators");
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UavcanEscController(uavcan::INode &node);
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~UavcanEscController() = default;
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int init();
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void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
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/**
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* Sets the number of rotors and enable timer
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*/
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void set_rotor_count(uint8_t count);
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static int max_output_value() { return uavcan::equipment::esc::RawCommand::FieldTypes::cmd::RawValueType::max(); }
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esc_status_s &esc_status() { return _esc_status; }
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private:
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/**
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* ESC status message reception will be reported via this callback.
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*/
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void esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg);
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/**
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* Checks all the ESCs freshness based on timestamp, if an ESC exceeds the timeout then is flagged offline.
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*/
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uint8_t check_escs_status();
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typedef uavcan::MethodBinder<UavcanEscController *,
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void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)> StatusCbBinder;
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typedef uavcan::MethodBinder<UavcanEscController *,
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void (UavcanEscController::*)(const uavcan::TimerEvent &)> TimerCbBinder;
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esc_status_s _esc_status{};
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uORB::PublicationMulti<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
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uint8_t _rotor_count{0};
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/*
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* libuavcan related things
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*/
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uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting
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uavcan::INode &_node;
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uavcan::Publisher<uavcan::equipment::esc::RawCommand> _uavcan_pub_raw_cmd;
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uavcan::Subscriber<uavcan::equipment::esc::Status, StatusCbBinder> _uavcan_sub_status;
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/*
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* ESC states
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*/
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uint8_t _max_number_of_nonzero_outputs{0};
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};
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